Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints
In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reac...
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| Published in | Journal of the Franklin Institute Vol. 358; no. 6; pp. 2948 - 2963 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.04.2021
Elsevier Science Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 0016-0032 |
| DOI | 10.1016/j.jfranklin.2021.02.006 |
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| Abstract | In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result. |
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| AbstractList | In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result. |
| Author | Zhu, Bing Chen, Yanyu |
| Author_xml | – sequence: 1 givenname: Yanyu surname: Chen fullname: Chen, Yanyu organization: The Seventh Research Division, Beihang University, Beijing 100191, PR China – sequence: 2 givenname: Bing surname: Zhu fullname: Zhu, Bing email: zhubing@buaa.edu.cn organization: The Seventh Research Division, Beihang University, Beijing 100191, PR China |
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| Title | Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints |
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